#ifndef Wheelctr_Hpp
#define Wheelctr_Hpp

// #include <boost/asio.hpp>
// //#include <boost/bind.hpp>
// //#include <boost/array.hpp>
// #include <boost/asio/steady_timer.hpp>
#include <memory>
// #include <functional>
// #include <queue>
// #include "Serial.hpp"

class wheelctr : public Serial
{
public:
  wheelctr(std::string port, int baud);
  ~wheelctr(){};
  int rec_ok(std::vector<u_int8_t> &msg);
  virtual void recvMsg(std::vector<u_int8_t> &msg) override;
  virtual void startTimer(int ms_s)override;
  void set_send_v(int n,int id);
  int send_count[8];
  int rec_count[8];
  int16_t current_speed[8];
  int16_t set_speed[8];
  int circle_count=0;
  //轮子id 8个
  const int wheel_id[8]={0x0151,0x0152,0x0153,0x0154,0x0155,0x0156,0x0157,0x0158}; 
};




#endif